A vertical automatic obstacle-avoiding weeding machine

Abstract

The present invention discloses a vertical automatic obstacle-avoiding weeding machine, which includes a grass-holding device, a reinforcing rod connecting the tractor, a gearbox support frame, a hydraulic cylinder, a first mounting shaft rod, a second mounting shaft rod and a tractor frame. The rear end of the grass-holding device is connected to the main mowing protection cover, and a gearbox support frame is installed above the main mowing protection cover, and a gearbox body is installed above the gearbox support frame. Reinforcing rods connecting the tractor are welded to the left and right ends of the gearbox body, and an output pulley is connected to the bottom end of the gearbox body, and a first belt main body and a second belt main body are connected to the outside of the output pulley. The second belt main body is arranged below the first belt main body. In this vertical automatic obstacle-avoiding weeding machine, since the obstacle-avoiding blade, the first blade and the second blade are always in a rotating working state, during the process of obstacle avoidance, the entire weeding machine can continuously weed the weeds around the obstacles.

Description

Technical Field

[0001] The invention relates to the technical field of weed cutters, in particular to a vertical automatic obstacle-avoiding weed cutter. Background Art

[0002] In the process of natural rubber planting and management, weeds compete with rubber for nutrients, sunlight, water and growth space. In this way, weeds hinder the growth of rubber and directly lead to a reduction in rubber production. In order to maintain the economic benefits of rubber farmers, it is very necessary to remove weeds. At present, some pesticides are used to remove weeds on the market, but the large-scale use of pesticides will cause many adverse consequences such as chemical residues, weed mutation (drug resistance), etc. Therefore, mechanical weeders are needed, but there are still some shortcomings in the mechanical weeders on the market, such as:

[0003] When a traditional weeder encounters an obstacle in front of it during driving, it will automatically avoid the obstacle, which makes it impossible to perform mechanical operations on the weeds close to the rubber trees. The weeds close to the rubber trees need to be manually weeded by the staff later, which increases the workload of the staff.

[0004] Therefore, we propose a vertical automatic obstacle avoidance weeder to solve the above-mentioned problems. Summary of the invention

[0005] The object of the present invention is to provide a vertical automatic obstacle avoidance weeder to solve the problem raised in the above background technology that the conventional weeders on the market cannot weed the weeds close to the rubber tree when automatically avoiding obstacles.

[0006] To achieve the above object, the present invention provides the following technical solution: a vertical automatic obstacle avoidance weeding machine, including a grass holding device, a connecting tractor reinforcing rod, a transmission support frame, a hydraulic cylinder, a first mounting shaft rod, a second mounting shaft rod and a tractor frame. The rear end of the grass holding device is connected to the main mowing protection cover, and a transmission support frame is installed above the main mowing protection cover, and a transmission body is installed above the transmission support frame. The left and right ends of the transmission body are welded with connecting tractor reinforcing rods, and the bottom end of the transmission body is connected with an output pulley, and the outer side of the output pulley is connected with a first belt main body and a second belt main body. The second belt main body is arranged below the first belt main body, and a first mowing pulley is installed inside the left end of the first belt main body, and a first belt tensioning device is connected inside the first belt main body. The right end inside the second belt main body is connected with a third mowing pulley, and the outer side of the third mowing pulley is connected with a third belt, and the left end inside the third belt is connected with a second mowing pulley. A second belt tensioning device is installed inside the second belt main body, and the bottom end of the second belt tensioning device is connected with the main mowing protection cover. The bottom end of the second mowing pulley is connected with an obstacle avoidance connecting device, and the left bottom end of the obstacle avoidance connecting device is connected with an obstacle avoidance safety cover through a flange, and a pressure transmission and support rod is installed above the second mowing pulley. A force receiving stop rod is fixed at the left end of the pressure transmission and support rod, and a pressure sensing device is installed above the right end of the pressure transmission and support rod. The bottom end of the force receiving stop rod is connected with an elastic telescopic rod through a movable pin, and the bottom end of the elastic telescopic rod is fixed with the main mowing protection cover. The rear side of the obstacle avoidance connecting device is connected with the hydraulic cylinder through a movable pin, and the right bottom end of the hydraulic cylinder is fixed with the main mowing protection cover. An obstacle avoidance blade is installed below the obstacle avoidance safety cover. The bottom end of the second mounting shaft rod penetrates through the main mowing protection cover and is connected with a second blade. The bottom end of the first mounting shaft rod penetrates through the main mowing protection cover and is connected with a first blade, and a grass pressing roller is connected to the front side of the main mowing protection cover. The connecting tractor reinforcing rod is connected with the tractor frame.

[0007] Preferably, a transmission shaft rod is connected to the inner bottom end of the transmission body through a bearing, and an output pulley is key-connected to the outer side of the bottom end of the transmission shaft rod, and the vertical center line of the transmission shaft rod coincides with the vertical center line of the transmission body.

[0008] Preferably, the horizontal center line of the first mowing pulley is parallel to the horizontal center line of the third mowing pulley, and the center connection lines of the first mowing pulley, the third mowing pulley and the output pulley form a triangular structure, and the highest point of the first mowing pulley is higher than the highest point of the third mowing pulley.

[0009] Preferably, the first belt tensioning device is flush with the output pulley, and there is a gap between the first belt tensioning device and the second belt body.

[0010] Preferably, the obstacle avoidance connecting device forms a rotating structure with the main mowing protection cover through the second mounting shaft rod and the hydraulic cylinder, and the rotation angle range of the obstacle avoidance connecting device is 0 - 45°.

[0011] Preferably, the force - receiving stop rod is in an arc - shaped structure, the arc length of the force - receiving stop rod is greater than half of the circumference of the obstacle avoidance safety cover, and the force - receiving stop rod and the pressure transmission and support rod are of an integral structure.

[0012] Preferably, the highest point of the grass - pressing roller is higher than the main mowing protection cover, the front end of the main mowing protection cover has a 2 - 3m suspension in the forward direction of the connection with the tractor, and the length of the grass - pressing roller is equivalent to the horizontal length of the front end of the main mowing protection cover.

[0013] Preferably, the horizontal center line of the first blade is not on the same straight line as the horizontal center line of the second blade, and the first blade and the second blade are made of the same material.

[0014] Preferably, the obstacle avoidance safety cover is in a circular structure, and the obstacle avoidance safety cover forms a rotating structure with the main mowing protection cover through the obstacle avoidance connecting device.

[0015] Compared with the prior art, the beneficial effects of the present invention are: this vertical automatic obstacle - avoidance weeding machine;

[0016] (1) There is a force - receiving stop rod which is in an arc - shaped structure. The force - receiving stop rod is connected and fixed to the obstacle avoidance connecting device through the pressure transmission and support rod. The force - receiving stop rod is connected to the elastic telescopic rod through a movable pin. The obstacle avoidance connecting device can rotate circumferentially around the second mounting shaft rod in the third mowing belt pulley through the hydraulic cylinder. Therefore, the obstacle avoidance safety cover and the obstacle avoidance blade can be driven by the obstacle avoidance connecting device to rotate for obstacle avoidance. At the same time, since the obstacle avoidance blade, the first blade and the second blade are always in a rotating working state, during the obstacle - avoidance process, the entire weeding machine can continuously weed the weeds around the obstacle.

[0017] (2) This machine introduces the automatic sensing technology into the structure of the weeding machine to achieve automatic obstacle - avoidance weeding. In addition, this machine is easy to disassemble and assemble, has a relatively low cost and is convenient to use. This machine is equipped with a small - sized crawler tractor, and the productivity ≥ 0.3hm 2 / h, which can meet the needs of weeding operations in rubber plantations and has important significance for the research of automatic weeding machines. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic top - view structure diagram of the present invention;

[0019] Figure 2 Schematic front view structure diagram of the present invention;

[0020] Figure 3 For the present invention Figure 2 Enlarged structure diagram at position A in the present invention;

[0021] Figure 4 Schematic bottom view structure diagram of the present invention;

[0022] Figure 5 Schematic working structure diagram of the present invention;

[0023] Figure 6 Schematic main sectional view structure diagram of the connection between the grass pressing roller and the main mowing protection cover of the present invention.

[0024] In the figure: 1, grass supporting device; 2, reinforcing rod for connecting tractor; 3, transmission case body; 31, transmission shaft rod; 4, transmission case support frame; 5, first mowing pulley; 6, first belt body; 7, first belt tensioning device; 8, second belt body; 9, hydraulic cylinder; 10, third belt; 11, obstacle avoidance connection device; 12, pressure sensing device; 13, force receiving stop bar; 14, second mowing pulley; 15, flange; 16, elastic telescopic rod; 17, pressure transmission and support rod; 18, third mowing pulley; 19, second belt tensioning device; 20, output pulley; 21, grass pressing roller; 22, first blade; 23, second blade; 24, obstacle avoidance blade; 25, main mowing protection cover; 26, obstacle avoidance safety cover; 27, first mounting shaft rod; 28, second mounting shaft rod; 29, tractor frame. Specific embodiments

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to Figures 1-6, the present invention provides a technical solution: a vertical automatic obstacle-avoiding weeding machine, including a grass-holding device 1, a connecting tractor reinforcing rod 2, a transmission body 3, a transmission support frame 4, a first mowing pulley 5, a first belt body 6, a first belt tensioning device 7, a second belt body 8, a hydraulic cylinder 9, a third belt 10, an obstacle-avoiding connecting device 11, a pressure sensing device 12, a force-bearing stop bar 13, a second mowing pulley 14, a flange 15, an elastic telescopic rod 16, a pressure transmission and support rod 17, a third mowing pulley 18, a second belt tensioning device 19, an output pulley 20, a grass-pressing roller 21, a first blade 22, a second blade 23, an obstacle-avoiding blade 24, a main mowing protective cover 25, an obstacle-avoiding safety cover 26, a first mounting shaft rod 27, a second mounting shaft rod 28 and a tractor frame 29. The rear end of the grass-holding device 1 is connected to the main mowing protective cover 25, and a transmission support frame 4 is installed above the main mowing protective cover 25, and a transmission body 3 is installed above the transmission support frame 4. Connecting tractor reinforcing rods 2 are welded to the left and right ends of the transmission body 3, and an output pulley 20 is connected to the bottom end of the transmission body 3. The outer sides of the output pulley 20 are connected to a first belt body 6 and a second belt body 8. The second belt body 8 is arranged below the first belt body 6. A first mowing pulley 5 is installed inside the left end of the first belt body 6, and a first belt tensioning device 7 is connected inside the first belt body 6. A third mowing pulley 18 is connected inside the right end of the second belt body 8. A third belt 10 is connected to the outer side of the third mowing pulley 18, and a second mowing pulley 14 is connected inside the left end of the third belt 10. A second belt tensioning device 19 is installed inside the second belt body 8, and the bottom end of the second belt tensioning device 19 is connected to the main mowing protective cover 25. The bottom end of the second mowing pulley 14 is connected to the obstacle-avoiding connecting device 11, and the bottom left end of the obstacle-avoiding connecting device 11 is connected to the obstacle-avoiding safety cover 26 through a flange 15. A pressure transmission and support rod 17 is installed above the second mowing pulley 14. A force-bearing stop bar 13 is fixed to the left end of the pressure transmission and support rod 17, and a pressure sensing device 12 is installed above the right end of the pressure transmission and support rod 17. The bottom end of the force-bearing stop bar 13 is connected to the elastic telescopic rod 16 through a movable pin, and the bottom end of the elastic telescopic rod 16 is fixed to the main mowing protective cover 25. The rear side of the obstacle-avoiding connecting device 11 is connected to the hydraulic cylinder 9 through a movable pin, and the bottom right end of the hydraulic cylinder 9 is fixed to the main mowing protective cover 25. An obstacle-avoiding blade 24 is installed below the obstacle-avoiding safety cover 26. The bottom end of the second mounting shaft rod 28 penetrates through the main mowing protective cover 25 and is connected to the second blade 23. The bottom end of the first mounting shaft rod 27 penetrates through the main mowing protective cover 25 and is connected to the first blade 22. A grass-pressing roller 21 is connected to the front side of the main mowing protective cover 25. The connecting tractor reinforcing rod 2 is connected to the tractor frame 29;

[0027] At the inner bottom end of the transmission body 3, a transmission shaft rod 31 is connected to a bearing, and an output pulley 20 is key-connected to the outer side of the bottom end of the transmission shaft rod 31. Moreover, the vertical center line of the transmission shaft rod 31 coincides with the vertical center line of the transmission body 3, thereby facilitating the transmission body 3 to transmit power to the output pulley 20 through the transmission shaft rod 31;

[0028] The horizontal center line of the first mowing pulley 5 is parallel to the horizontal center line of the third mowing pulley 18. The central connection lines of the first mowing pulley 5, the third mowing pulley 18, and the output pulley 20 form a triangular structure. Moreover, the highest point of the first mowing pulley 5 is higher than the highest point of the third mowing pulley 18. The first mowing pulley 5 and the third mowing pulley 18 drive the first blades 22 and the second blades 23 at two different positions to perform cutting work;

[0029] The first belt tensioning device 7 is flush with the output pulley 20, and there is a spacing between the first belt tensioning device 7 and the second belt body 8, so as to facilitate the first belt tensioning device 7 to well control and adjust the first belt body 6 outside the output pulley 20;

[0030] The obstacle avoidance connection device 11 forms a rotating structure with the main mowing protection cover 25 through the second mounting shaft rod 28 and the hydraulic cylinder 9, and the rotation angle range of the obstacle avoidance connection device 11 is 0 - 45°. Thus, the obstacle avoidance connection device 11 can well drive the obstacle avoidance safety cover 26 to perform rotating avoidance work;

[0031] The force-bearing stop bar 13 has an arc-shaped structure, and the arc length of the force-bearing stop bar 13 is greater than half of the circumference of the obstacle avoidance safety cover 26. Moreover, the force-bearing stop bar 13 and the pressure transmission and support rod 17 are an integrated structure, so as to facilitate the arc-shaped force-bearing stop bar 13 to well protect the obstacle avoidance safety cover 26. At the same time, the arc-shaped force-bearing stop bar 13 designed through the arc-shaped structure can also reduce the contact area with obstacles;

[0032] The highest point of the grass pressing roller 21 is higher than the main mowing protection cover 25, and there is a 2 - 3m suspension at the front end of the main mowing protection cover 25 in the direction of connection with the tractor. Moreover, the length of the grass pressing roller 21 is equivalent to the horizontal length of the front end of the main mowing protection cover 25. Thus, the grass pressing roller 21 can well press down the grass, facilitating the first blade 22 and the second blade 23 to perform weeding work;

[0033] The horizontal center lines of the first blade 22 and the second blade 23 are not on the same straight line, and the first blade 22 and the second blade 23 are made of the same material, so as to facilitate the staggered first blade 22 and second blade 23 to remove grass in different areas;

[0034] The obstacle avoidance safety cover 26 is circular in structure, and the obstacle avoidance safety cover 26 and the main mowing protection cover 25 form a rotating structure through the obstacle avoidance connecting device 11. The rotation of the obstacle avoidance safety cover 26 facilitates the protection of the obstacle avoidance blade 24.

[0035] The working principle of this embodiment: When using this vertical automatic obstacle avoidance weeding machine, first, as shown in the appendix Figure 5 As shown, fasten the connecting tractor reinforcement rods 2 on both the left and right sides of the transmission body 3 to the tractor frame 29 through compression clamps, so that the gears in the transmission body 3 as shown in the appendix Figures 2-3 mesh with the gears on the tractor frame 29. This part is a mature technology available on the market, and the applicant will not introduce it in detail here. Thus, the entire weeding machine is well installed and fixed to the remote-controlled tracked tractor as shown in the appendix Figure 5 shown, which is convenient for the remote-controlled tracked tractor to drive the entire weeding machine to move and transmit the power source later. Then, start the remote-controlled tracked tractor. The remote-controlled tracked tractor rotates through the internal gears meshing with the gears inside the transmission body 3. As shown in the appendix Figure 3 shown, the transmission shaft rod 31 rotates. The transmission shaft rod 31 transmits the power to the output pulley 20 on the outer side of the lower end, and the output pulley 20 starts to rotate and work;

[0036] Next, as shown in the appendix Figure 2 , appendix Figure 4 and appendix Figure 6 shown, during the driving process of the entire weeding machine, the weed is pressed down by the grass pressing roller 21. Then, as shown in the appendix Figures 1-3 shown, when the output pulley 20 rotates, it transmits the power to the first belt main body 6 and the second belt main body 8 on the outer side, so that the first belt main body 6 and the second belt main body 8 on the outer side of the output pulley 20 rotate together. Then, as shown in the appendix Figure 1 shown, when the first belt main body 6 rotates, it transmits the power to the first mowing pulley 5, and at the same time, the first belt tensioning device 7 tensions the first belt main body 6 to facilitate the good operation of the first belt main body 6. When the first mowing pulley 5 rotates, it transmits the power to the first mounting shaft rod 27 inside. Thus, as shown in Figure 4 shown, when the first mounting shaft rod 27 rotates, it drives the first blade 22 fixedly connected to the bottom end to rotate and mow the pressed-down weeds. Similarly, when the second belt main body 8 rotates, it drives the third mowing pulley 18 to rotate, so that when the third mowing pulley 18 rotates, it drives the second mounting shaft rod 28 inside to rotate. Then, as shown in the appendix Figure 4 shown, when the second mounting shaft rod 28 rotates, it drives the second blade 23 fixed to the outer side of the bottom end to rotate and mow the pressed-down weeds;

[0037] At the same time, as shown in the appendix Figure 1As shown, during rotation, the third mowing pulley 18 transmits power to the third belt 10, and the third belt 10 transmits power to the second mowing pulley 14, enabling the second mowing pulley 14 to transmit power to the obstacle avoidance blade 24 through the internal shaft, as shown in the appendix Figure 4 As shown, enabling the obstacle avoidance blade 24 to rotate and cut low weeds. When encountering an obstacle, as shown in the appendix Figure 1 As shown, the force-receiving lever 13 is subjected to the pressure of the obstacle and transmits the pressure to the pressure sensing device 12 through pressure transmission and the support rod 17. The pressure sensing device 12 feeds back the information to the tractor hydraulic valve controller to control the telescoping of the hydraulic cylinder 9, pulling the obstacle avoidance connecting device 11 to rotate around the center of the third mowing pulley 18 to automatically avoid obstacles. At the same time, during the avoidance process, the obstacle avoidance blade 24 maintains the cutting operation. Therefore, it is convenient for the obstacle avoidance blade 24 to weed the weeds closer to the rubber tree part without the need for later manual operation, which is simple and fast, thus completing a series of tasks.

[0038] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vertical automatic obstacle-avoiding weeding machine, comprising a grass-holding device (1), a reinforcing rod (2) connecting to a tractor, a transmission support frame (4), a hydraulic cylinder (9), a first mounting shaft rod (27), a second mounting shaft rod (28) and a tractor frame (29), characterized in that: The rear end of the grass holding device (1) is connected to the main mowing protection cover (25), and a transmission support frame (4) is installed above the main mowing protection cover (25), and a transmission body (3) is installed above the transmission support frame (4). Connecting tractor reinforcement rods (2) are welded to the left and right ends of the transmission body (3), and an output pulley (20) is connected to the bottom end of the transmission body (3). A first belt body (6) and a second belt body (8) are connected to the outside of the output pulley (20). The second belt body (8) is arranged below the first belt body (6). A first mowing pulley (5) is installed inside the left end of the first belt body (6), and a first belt tensioning device (7) is connected inside the first belt body (6). A third mowing pulley (18) is connected inside the right end of the second belt body (8). A third belt (10) is connected to the outside of the third mowing pulley (18), and a second mowing pulley (14) is connected inside the left end of the third belt (10). A second belt tensioning device (19) is installed inside the second belt body (8), and the bottom end of the second belt tensioning device (19) is connected to the main mowing protection cover (25). The bottom end of the second mowing pulley (14) is connected to the obstacle avoidance connection device (11). The bottom end of the left side of the obstacle avoidance connection device (11) is connected to the obstacle avoidance safety cover (26) through a flange (15). A pressure transmission and support rod (17) is installed above the second mowing pulley (14). A force receiving stop rod (13) is fixed to the left end of the pressure transmission and support rod (17), and a pressure sensing device (12) is installed above the right end of the pressure transmission and support rod (17). The bottom end of the force receiving stop rod (13) is connected to an elastic telescopic rod (16) through a movable pin, and the bottom end of the elastic telescopic rod (16) is fixed to the main mowing protection cover (25). The rear side of the obstacle avoidance connection device (11) is connected to a hydraulic cylinder (9) through a movable pin, and the bottom end of the right side of the hydraulic cylinder (9) is fixed to the main mowing protection cover (25). An obstacle avoidance blade (24) is installed below the obstacle avoidance safety cover (26). The bottom end of the second mounting shaft rod (28) penetrates the main mowing protection cover (25) and is connected to the second blade (23). The bottom end of the first mounting shaft rod (27) penetrates the main mowing protection cover (25) and is connected to the first blade (22). A grass pressing roller (21) is connected to the front side of the main mowing protection cover (25). The connecting tractor reinforcement rod (2) is connected to the tractor frame (29).

2. The vertical automatic obstacle avoidance weeding machine according to claim 1, characterized in that: A transmission shaft rod (31) is connected to the inner bottom end of the transmission body (3) by a bearing. An output pulley (20) is key-connected to the outer side of the bottom end of the transmission shaft rod (31). The vertical center line of the transmission shaft rod (31) coincides with the vertical center line of the transmission body (3).

3. The vertical automatic obstacle avoidance weeding machine according to claim 1, characterized in that: The lateral center line of the first mowing pulley (5) is parallel to the lateral center line of the third mowing pulley (18), and the center connection lines of the first mowing pulley (5), the third mowing pulley (18), and the output pulley (20) form a triangular structure, and the highest point of the first mowing pulley (5) is higher than the highest point of the third mowing pulley (18).

4. The vertical automatic obstacle-avoiding weeding machine according to claim 1, wherein: The first belt tensioning device (7) is flush with the output pulley (20), and there is a spacing between the first belt tensioning device (7) and the second belt body (8).

5. The vertical automatic obstacle-avoiding weeding machine according to claim 1, wherein: The obstacle avoidance connection device (11) forms a rotating structure with the main mowing protective cover (25) through the second mounting shaft rod (28) and the hydraulic cylinder (9), and the rotation angle range of the obstacle avoidance connection device (11) is 0 - 45°.

6. The vertical automatic obstacle-avoiding weeding machine according to claim 1, characterized in that: The force - receiving stop bar (13) has an arc - shaped structure, and the arc length of the force - receiving stop bar (13) is greater than half of the circumference of the obstacle avoidance safety cover (26), and the force - receiving stop bar (13) and the pressure transmission and support rod (17) are of an integrated structure.

7. The vertical automatic obstacle-avoiding weeding machine according to claim 1, wherein: The highest point of the grass - pressing roller (21) is higher than the main mowing protective cover (25), and there is a 2 - 3m suspension in front of the front end of the main mowing protective cover (25) in the direction of connection with the tractor, and the length of the grass - pressing roller (21) is equivalent to the horizontal length of the front end of the main mowing protective cover (25).

8. The vertical automatic obstacle avoidance weeding machine according to claim 1, characterized in that: The lateral center line of the first blade (22) is not on the same straight line as the lateral center line of the second blade (23), and the first blade (22) and the second blade (23) are made of the same material.

9. The vertical automatic obstacle-avoiding weeding machine according to claim 1, characterized in that: The obstacle avoidance safety cover (26) has a circular structure, and the obstacle avoidance safety cover (26) forms a rotating structure with the main mowing protective cover (25) through the obstacle avoidance connection device (11).

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